JP2021131894A - Method, device, electronic apparatus, and storage media for controlling simulation vehicle - Google Patents

Abstract

To provide a method, a device, an electronic apparatus, and computer storage media for controlling a simulation vehicle, in particular relative to a field of automatic driving.SOLUTION: A method for controlling a simulation vehicle: determines a first area corresponding to a first simulation position where the simulation vehicle is located at a first time; acquires first environment information related to a first area and second environment information related to a second area adjacent to the first area; transmits the first environment information and the second environment information to a control apparatus of the simulation vehicle; and, when a control signal relative to a simulation vehicle is received from the control apparatus, determines first operation that the simulation vehicle executes at a second time later than the first time based on the control signal. The control signal is determined by the control apparatus based on the first environment information and the second environment information.SELECTED DRAWING: Figure 2

Description

The embodiments of the present disclosure relate to the field of autonomous driving, in particular to methods, devices, electronic devices and computer storage media for controlling simulation vehicles.

In the field of autonomous driving, relying on real vehicle testing to verify algorithm effectiveness is a costly and inefficient method, simulating a real-world traffic environment to operate a vehicle, thereby verifying and iterating the algorithm. Can be accelerated. Current simulations are generally based on relatively short fixed scene models, where vehicles typically operate for tens of seconds and lack stability and reliability verification when operating for extended periods of time. Also, in simulation, there is generally only one vehicle, and all others are obstacles, and the ability to verify the vehicle by an interactive game is insufficient.

The present disclosure provides methods, devices, electronic devices and computer storage media for controlling a simulation vehicle.

A first aspect of the present disclosure includes a step of determining a first region corresponding to a first simulation position where the simulation vehicle is located at a first time, a first environmental information about the first region, and a first. A step of acquiring a second environmental information about a second area adjacent to the first area, a step of transmitting the first environmental information and the second environmental information to the control device of the simulation vehicle, and a step of transmitting the first environmental information and the second environmental information from the control device. When the control signal for the simulation vehicle is received, the control signal is a step of determining the first operation to be executed by the simulation vehicle at the second time after the first time based on the control signal. , A method for controlling a simulation vehicle, including steps that are determined by the control device based on the first environmental information and the second environmental information.

A second aspect of the present invention relates to a region determination module configured to determine a first region corresponding to a first simulation position where a simulation vehicle is located at a first time, and a first region. The environment information acquisition module configured to acquire the first environment information and the second environment information regarding the second area adjacent to the first area, and the first environment information and the second environment information. When a transmission module configured to transmit to the control device of the simulation vehicle and a control signal from the control device to the simulation vehicle are received, the simulation vehicle is second after the first time based on the control signal. It is a first operation determination module configured to determine the first operation to be executed at the time of, and the control signal is determined by the control device based on the first environmental information and the second environmental information. Provided is an apparatus for controlling a simulation vehicle, including a first motion determination module which is to be performed.

A third aspect of the present disclosure is an electronic device that includes at least one processor and a memory communicatively connected to the at least one processor, the memory being an instruction that can be executed by at least one processor. Is stored, and when the instruction is executed by the at least one processor, the at least one processor provides an electronic device capable of performing the method according to the first aspect.

A fourth aspect of the present disclosure is a step of receiving a first environmental information regarding a first region and a second environmental information regarding a second region adjacent to the first region from a simulation device. , The first region sends a control signal to the simulation vehicle based on the step corresponding to the first simulation position where the simulation vehicle is located at the first time, and the first environmental information and the second environmental information. The step of generating, the control signal includes a step of causing the simulation vehicle to execute the first operation at a second time after the first time, and a step of transmitting the control signal to the simulation device. Provides a method for controlling a simulation vehicle.

The fifth aspect of the present disclosure is configured to receive the first environmental information regarding the first region and the second environmental information regarding the second region adjacent to the first region from the simulation instrument. The first region is based on the receiving module corresponding to the first simulation position where the simulation vehicle is located at the first time, the first environmental information, and the second environmental information. , A control signal generation module configured to generate a control signal for the simulation vehicle, the control signal is a control that causes the simulation vehicle to perform the first operation at a second time after the first time. Provided is an apparatus for controlling a simulation vehicle, including a signal generation module and a transmission module configured to transmit a control signal to a simulation device.

A sixth aspect of the present disclosure is an electronic device comprising at least one processor and a memory communicatively connected to the at least one processor, the memory being an instruction that can be executed by at least one processor. Is stored, and when the instruction is executed by the at least one processor, the at least one processor provides an electronic device capable of performing the method according to the fourth aspect.

A seventh aspect of the present disclosure is a computer-readable storage medium in which computer instructions are stored, wherein the computer instructions cause the computer to perform the method described in the first aspect of the present disclosure. I will provide a.
An eighth aspect of the present disclosure is a computer-readable storage medium in which computer instructions are stored, wherein the computer instructions cause the computer to perform the method described in the fourth aspect of the present disclosure. I will provide a.

A ninth aspect of the present disclosure provides a computer program that causes a computer to perform the method described in the first aspect of the present disclosure.
A tenth aspect of the present disclosure provides a computer program that causes a computer to perform the method described in the fourth aspect of the present disclosure.

The technology of the present disclosure solves the problems of reduced calculation efficiency and idle resources due to the ability to perform simulations at the next time only after the calculations of all simulated vehicles are completed and the calculation results are synchronized. It is possible to improve the calculation efficiency and avoid idle resources.

The content described in this section is not intended to identify the essential or important features of the embodiments of the present disclosure and does not limit the scope of the present disclosure. Other features of the disclosure are readily understood through the following specification.

The above and other features, advantages and embodiments of each embodiment of the present disclosure will become more apparent with reference to the drawings and the following detailed description. In the drawings, the same or similar elements are designated by the same or similar reference numerals.
It is a schematic diagram of the information processing environment 100 which concerns on embodiment of this disclosure. It is a flowchart of the method 200 for controlling the simulation vehicle which concerns on embodiment of this disclosure. It is a flowchart of the method 300 for controlling the simulation vehicle which concerns on embodiment of this disclosure. It is a schematic diagram of the divided area 400 which concerns on embodiment of this disclosure. It is a schematic block diagram of the apparatus 500 for controlling the simulation vehicle which concerns on embodiment of this disclosure. It is a schematic block diagram of the apparatus 600 for controlling the simulation vehicle which concerns on embodiment of this disclosure. It is a block diagram of the electronic device for carrying out the method for controlling the simulation vehicle which concerns on embodiment of this disclosure.

In the following, with reference to the drawings, exemplary embodiments of the present disclosure will be described, which, for ease of understanding, include various details of the embodiments of the present disclosure, which are merely. It should be considered exemplary. Accordingly, one of ordinary skill in the art can make various changes and modifications to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and brevity, the following description omits the description of well-known functions and structures.

As used herein, the term "including" and variations thereof shall represent openness inclusion, i.e., "include, but not limited". Unless otherwise noted, the term "or" shall represent "and / or". The term "based" shall mean "at least partially based". The terms "one exemplary example" and "one example" shall represent "at least one exemplary example." The term "another embodiment" shall represent "at least one other embodiment". The terms "first", "second" and the like may refer to different or the same objects. The term "vehicle" can include a simulated vehicle simulated by a simulation system. In the following, other explicit and implicit definitions may be included.

As explained above, current simulations are generally based on relatively short fixed scene models, where vehicles typically operate for tens of seconds and are stable and reliable when operating for extended periods of time. Lack of verification. Also, in the simulation, there is generally only one vehicle, and all the others are obstacles, and the ability to verify the vehicle by an interactive game is insufficient. In order to support long-term simulation of multiple vehicles, calculation efficiency is generally satisfied by performing parallel calculations using a distributed architecture. Currently, due to possible games and coupling relationships between vehicles, the next simulation time is to be processed at each simulation time only after the calculations for all vehicles have been completed and the calculation results have been synchronized. This inevitably limits simulation efficiency to the slowest calculated vehicle, resulting in serious resource idleness.

The exemplary embodiments of the present disclosure provide a proposal for controlling a simulation vehicle to at least partially solve one or more of the above problems and other potential problems. In this proposal, a first region corresponding to the first simulation position where the simulation vehicle is located at the first time is determined, and the first environmental information regarding the first region and the first region adjacent to the first region are determined. The second environmental information regarding the second region is acquired, the first environmental information and the second environmental information are transmitted to the control device of the simulation vehicle, and the control signal for the simulation vehicle from the control device is received and controlled. Based on the signal, the simulation vehicle determines the first action to be performed at a second time after the first time, and the control signal is based on the first environmental information and the second environmental information. It is determined by the control device.

As a result, environmental information about the area where the simulation vehicle is located and its adjacent area is acquired and used for vehicle control decision-making, so that the vehicle control decision-making is based only on the limited area around the simulation vehicle. Therefore, in the vehicle simulation process, it is not necessary to wait for the control result of the simulation vehicle in an area other than the limited area around the simulation vehicle, the calculation efficiency can be improved, and the idle of resources can be avoided.

Hereinafter, a specific example of the present proposal will be described in more detail with reference to the drawings.

FIG. 1 shows a schematic diagram of an information processing environment 100 according to an embodiment of the present disclosure. The information processing environment 100 can include a simulation device 110 and a control device 120 of the simulation vehicle 130.

The simulation device 110 can operate the simulation system 140 used for traveling the simulation vehicle. One or more simulation vehicles 130 controlled by one or more control devices 120 can operate in the simulation system 140. The simulation system 140 can include a static environment and a dynamic environment. The static environment includes, but is not limited to, road network information, for example. Dynamic environments include, but are not limited to, traffic flows, for example, and are also referred to as obstacles. The simulation device 110 can maintain the virtual clock. The simulation device 110 transmits environmental information of any virtual time to the control device 120 of the simulation vehicle 130, receives a control signal from the control device 120 to the simulation vehicle 130, and simulates based on the control signal. The action that the vehicle 130 performs at the next virtual time can be determined. Further, the simulation device 110 can determine the operation to be executed by the obstacle at the next virtual time based on the model corresponding to the obstacle and the environmental information of any virtual time. In some embodiments, the simulation system may be divided into multiple regions, eg, multiple map grids. Based on the position of the simulation vehicle 130, the simulation vehicle 130 can be assigned to the corresponding area.

The simulation device 110 includes, but is not limited to, for example, a server computer, a multiprocessor system, a large computer, a distributed calculation environment including any of the above systems or devices, and the like. In some embodiments, the simulation device 110 includes a special application processing unit such as, for example, a graphics processing unit GPU, a field programmable gate array FPGA, and an application specific integrated circuit ASIC, and, for example, a central processing unit CPU. You may have one or a plurality of processing units including the general-purpose processing unit of the above. In some embodiments, the simulation device 110 may include a server cluster that includes a control server and a plurality of work servers. For example, the calculation of the simulation vehicle 130 and the obstacle in one area may be completed by one work server, and the plurality of work servers perform the calculation of the plurality of areas in parallel by performing the calculation in parallel. You may.

The control device 120 can execute a program for controlling the simulation vehicle 130, and examples thereof include, but are not limited to, an automatic driving control program. The control device 120 can receive the environmental information from the simulation device 110, determine the control signal for the simulation vehicle 130 based on the environmental information, and transmit the control signal to the simulation device 110. The control device 120 may be one or more. The control device 120 can control one or more simulation vehicles 130. The control device 120 includes, but is not limited to, for example, a personal computer, a server computer, a multiprocessor system, a large computer, a distributed calculation environment including any of the above systems or devices, and the like.

The simulation device 110 determines a first region corresponding to the first simulation position where the simulation vehicle 130 is located at the first time, and is adjacent to the first environmental information regarding the first region and the first region. The second environmental information regarding the second region is acquired, the first environmental information and the second environmental information are transmitted to the control device 120 of the simulation vehicle 130, and the control device 120 controls the simulation vehicle 130. When the signal is received, the simulation vehicle 130 determines the first operation to be executed at the second time after the first time based on the control signal, and the control signal is the first environmental information and the first operation. It is determined by the control device based on the environmental information of 2.

The control device 120 receives from the simulation device 110 the first environmental information regarding the first region and the second environmental information regarding the second region adjacent to the first region, and the first region receives the second environmental information regarding the second region. Corresponding to the first simulation position where the simulation vehicle is located at the first time, a control signal for the simulation vehicle 130 is generated based on the first environmental information and the second environmental information, and the control signal is simulated. The vehicle 130 is made to execute the first operation at a second time after the first time, and a control signal is transmitted to the simulation device 110.

FIG. 2 is a flowchart of the method 200 for controlling the simulation vehicle 130 according to the embodiment of the present disclosure. For example, the method 200 can be executed by the simulation device 110 shown in FIG. Method 200 may include additional blocks not shown and / or omit the blocks shown, and is not limited to the scope of the present disclosure.

In block 202, the simulation device 110 determines a first region corresponding to the first simulation position where the simulation vehicle 130 is located at the first time. The simulation system can be divided into at least one region, and each region can correspond to a certain simulation position range. If the first simulation position where the simulation vehicle 130 is located at the first time is within the simulation position range corresponding to a certain area, the first simulation position corresponds to this area. The region may have a regular shape such as a square or a rectangle, or may have an irregular shape.

In some embodiments, the first region can be determined by various methods. For example, the simulation device 110 may acquire predetermined correspondence information between the simulation position and the region, and then determine the first region corresponding to the first simulation position based on the predetermined correspondence information. .. The predetermined correspondence information includes, for example, a predetermined correspondence table, but is not limited thereto. Taking a square area as an example, the abscissa (x) is 0 to 10 and the ordinate (y) is 0 to 10, and the simulation position range corresponding to the area B is horizontal. The coordinates (x) are 10 to 20, the vertical coordinates (y) are 0 to 10, and the simulation position range corresponding to the region C is the abscissa (x) of 20 to 30 and the vertical coordinates (y) of 0. The number is 10 and the predetermined correspondence information is as shown in Table 1.

If the simulation position where the simulation vehicle 130 is located at the first time is, for example, (15, 5), this simulation position corresponds to the area B. With the predetermined correspondence information between the simulation position and the region, the corresponding region can be easily determined based on the simulation position.

In block 204, the simulation device 110 acquires the first environmental information regarding the first region and the second environmental information regarding the second region adjacent to the first region. The second region adjacent to the first region may be a region having sides adjacent to the first region and / or a region having points adjacent to the first region. As shown in FIG. 4, taking the region A as the first region as an example, the second region adjacent to the region A includes regions B, D, F and H having sides adjacent to the region A. Includes regions C, E, G and I having points adjacent to region A. It should be understood that it is only an example that the second region contains these nine regions. If the first region is located at the boundary of the simulation system, the second region adjacent to the first region may include three or five. Also, if the simulation system or regions are irregular, the second region adjacent to the first region may be less or more.

In some embodiments, the simulation device 110 acquires at least one of the first obstacle information and the first road network information related to the first area and the second area related to the second area. At least one of obstacle information and second road network information can be acquired. Obstacles include, but are not limited to, traffic objects in simulation systems such as automobiles, non-automobiles, and pedestrians. The first obstacle information includes, for example, analog sensor data regarding an obstacle in the first region, but is not limited thereto, and examples thereof include laser radar data and millimeter wave radar data. The first road network information includes, but is not limited to, for example, road information, fixed object information around the road, and other possible information.
Road information includes, for example, information such as lane position, type, width, slope, and curvature.
The fixed target information around the road includes, for example, information such as a traffic sign and a traffic signal.
Since the second obstacle information and the second road network information are similar to the first obstacle information and the first road network information, respectively, the description thereof will be omitted. By acquiring obstacle information and road network information, vehicle control decision-making can be based on static and dynamic environments, and the basis of vehicle control decision-making becomes even closer to the actual situation.

In some embodiments, the simulation device 110 may acquire sensing information about an obstacle in the first region. The sensed information may be the position, shape, type, velocity, orientation and / or other possible information of the obstacle.
The position of the obstacle may be the coordinates of the obstacle. The shape of the obstacle may include the length, width, height, etc. of the obstacle.
Types of obstacles may include automobiles, non-automobiles and pedestrians.
The orientation of the obstacle may include the same direction as the vehicle, the opposite direction, or any other suitable direction.
By acquiring the obstacle detection information, the decision-making planning ability of the control device 120 can be easily and accurately tested.

At block 206, the simulation device 110 transmits the first environmental information and the second environmental information to the control device 120 of the simulation vehicle 130. After receiving the first environmental information and the second environmental information, the control device 120 uses the first environmental information and the second environmental information as inputs for vehicle control decision-making, and then receives a control signal for the simulation vehicle 130. Can be generated.
The control signal is for controlling the operation executed by the simulation vehicle 130, such as turning, acceleration, deceleration, forward movement, reverse movement, and braking. For example, when the first environmental information and the second environmental information indicate that there is an obstacle in front of the simulation vehicle 130, the control device 120 can generate a bending signal for the simulation vehicle 130, and the first When the environmental information of the above and the second environmental information indicate that there is no obstacle in front of the simulation vehicle 130, the control device 120 can generate a forward signal or an acceleration signal for the simulation vehicle 130. After generating the control signal, the control device 120 can transmit it to the simulation device 110 via the communication module.

At block 208, the simulation device 110 determines whether or not a control signal from the control device 120 to the simulation vehicle 130 has been received. The control signal is determined by the control device 120 based on the first environmental information and the second environmental information.

When the simulation device 110 receives the control signal for the simulation vehicle 130 from the control device 120 in the block 208, the simulation device 130 has a second time after the first time in the block 210 based on the control signal. Determine the first action to be performed at the time. The first operation can be used to determine the location of the simulation vehicle 130 at the second time.

In some embodiments, the simulation device 110 can determine a first action performed by the simulation vehicle 130 at a second time based on control signals and a predetermined vehicle dynamics model. The first action may include braking, bending, forward, backward, acceleration, deceleration and / or other possible actions. The turn may include a left turn, a right turn, a U-turn, and the like. The acceleration may include a target speed after acceleration or a speed difference in acceleration. The deceleration may include the speed after deceleration or the speed difference for deceleration. With the vehicle dynamics model, the motion performed by the simulated vehicle can more accurately simulate the actual motion, and the reliability of the simulation can be improved.

As a result, environmental information about the area where the simulation vehicle is located and its adjacent area is acquired and used for vehicle control decision-making, so that vehicle control decision-making is limited to the periphery of the simulation vehicle. The decision-making is based only on the limited area around the simulation vehicle, and the vehicle simulation process does not have to wait for the control result of the simulation vehicle in the area other than the limited area around the simulation vehicle, and the calculation efficiency. Can be improved and idle of resources can be avoided.

In some embodiments, the simulation device 110 may further acquire a simulation model corresponding to an obstacle in the first region, after which the simulation device 110 may obtain the simulation model, the first environmental information and the first. Based on the environmental information of 2, the second action that the obstacle performs at the second time may be determined. Different types of obstacles can correspond to different simulation models such as car model, non-car model, pedestrian model, etc., which makes the simulation obstacle closer to the actual obstacle and the simulation result. The reliability of the can be improved. Further, based on the environmental information about the area where the obstacle is located and the area adjacent to the obstacle, the basis of the obstacle motion determination is based only on the local environmental information, and the simulation calculation efficiency can be improved.

In some embodiments, optionally or additionally, the simulation device 110 determines whether the first action performed by the simulation vehicle 130 at a second time meets certain criteria for vehicle travel. May be determined. When the simulation device 110 determines that the first operation performed by the simulation vehicle 130 at the second time does not meet the predetermined evaluation criteria, the simulation device 110 stores the second time and the scene information associated with the simulation vehicle 130. Can be done.
The predetermined evaluation criteria may include evaluation criteria regarding the rationality of operation, and examples thereof include, but are not limited to, collision, crossing a stop line, ignoring a red light, and stagnation. As a result, the simulation device can automatically evaluate the driving operation of the simulation vehicle 130 and automatically save the related scene information that does not meet the evaluation criteria, and save and play or debug the high-value scene. Useful for use in.

In some embodiments, optionally or additionally, the simulation device 110 determines whether or not a save request for the scene information has been received from the control device 120 and receives a save request for the scene information from the control device 120. If so, the second time and the scene information associated with the simulation vehicle 130 may be saved. As a result, the simulation device 110 can store the related scene information in response to the request of the control device 120, and the control device 120 more accurately represents the internal state of the simulation vehicle 130, so that the related scene information can be stored. Can be saved accurately.

In some embodiments, the simulation device 110 may store event information, environmental information, communication information, log information and / or other relevant information about the second time and the simulation vehicle 130. The event information may be an event triggered by an action executed by the simulation vehicle 130 at the second time, and includes, for example, a collision between the simulation vehicle 130 and an obstacle, ignoring the red light of the simulation vehicle 130, and the like. The environmental information is, for example, environmental information regarding an area corresponding to the position where the simulation vehicle 130 is located at the second time and an area adjacent thereto, and includes, for example, obstacle information, road network information, and the like. The communication information may include communication data between the simulation device 110 and the control device 120, and examples thereof include a first environmental information, a second environmental information, and a control signal to be transmitted. The log information is, for example, a system-related state or a record of information. The above information is exemplary and not limited, and the simulation device 110 can store any suitable information related to the second time and the simulation vehicle 130. This allows problems to be found more easily and quickly in subsequent playback or debugging processes by storing one or more scene information related to the simulation vehicle 130 and the required time.

In some embodiments, optionally or additionally, the simulation device 110 determines whether the communication between the simulation device 110 and the control device 120 is abnormal, and the simulation device 110 and the control device 120 If it is determined that the communication with is abnormal, the simulation vehicle 130 may be restarted. The communication abnormality includes, but is not limited to, not receiving the control signal from the control device 120 within a predetermined time interval, for example. As a result, when a communication abnormality occurs due to a failure of the control device 120 or a problem of the communication link, it is only necessary to restart the simulation vehicle 130 without ending the simulation, improving the fault tolerance of the simulation system and simulating the simulation vehicle. Ensure that the 130 can operate over a long period of time and accumulate simulation data.

In some embodiments, optionally or additionally, the simulation instrument 110 may convert the loaded map into a topology diagram and divide the topology diagram into multiple regions. Loaded maps include, but are not limited to, high precision maps, for example. High-precision maps can improve the true reliability of the simulation system. By converting to a topology diagram, it becomes suitable for driving an obstacle, for example, in a simulation. By dividing the topology diagram into a plurality of regions, it is possible to facilitate regionalization parallel calculation and vehicle control decision-making based on the local region corresponding to the location of the simulation vehicle 130.

FIG. 3 shows a flowchart of the method 300 for controlling the simulation vehicle 130 according to the embodiment of the present disclosure. For example, the method 300 can be executed by the control device 120 of the simulation vehicle 130 shown in FIG. Method 300 may include additional blocks not shown and / or omit the blocks shown, and the scope of the present disclosure is not limited thereto.

In block 302, the control device 120 receives from the simulation device 110 the first environmental information regarding the first region and the second environmental information related to the second region adjacent to the first region. The first region corresponds to the first simulation position where the simulation vehicle 130 is located at the first time.

In some embodiments, the control device 120 has at least one of the first obstacle information and the first road network information relating to the first region and the second obstacle information relating to the second region from the simulation device 110. And at least one of the second road network information may be received. For examples of obstacle information and road network information, the above contents can be referred to, and the description thereof will be omitted here.
By acquiring obstacle information and road network information, vehicle control decision-making can be based on static and dynamic environments, and the basis of vehicle control decision-making becomes even closer to the actual situation.

In some embodiments, the control device 120 may receive sensing information about obstacles in the first region from the simulation device 110. The sensed information may be the position, shape, type, velocity, orientation and / or other possible information of the obstacle. Examples of such information can refer to the above contents, and description thereof will be omitted here. By receiving the obstacle detection information, the decision-making ability of the control device 120 can be easily and accurately tested.

In block 304, the control device 120 generates a control signal for the simulation vehicle 130 based on the first environmental information and the second environmental information, and the control signal is sent to the simulation vehicle 130 after the first time. The first operation is executed at the second time of.

At block 306, the control device 120 transmits a control signal to the simulation device 110.

As a result, environmental information about the area where the simulation vehicle is located and its adjacent area is received and used for vehicle control decision-making, so that the vehicle control decision-making is based only on the limited area around the simulation vehicle. Therefore, in the vehicle simulation process, it is not necessary to wait for the control result of the simulation vehicle in an area other than the limited area around the simulation vehicle, the calculation efficiency can be improved, and the idle of resources can be avoided.

FIG. 5 is a schematic block diagram of the device 500 for controlling the simulation vehicle 130 according to the embodiment of the present disclosure. As shown in FIG. 5, the device 500 includes a region determination module 501 configured to determine a first region corresponding to a first simulation position where the simulation vehicle 130 is located at a first time, and a first. The environment information acquisition module 502 configured to acquire the first environment information regarding the area of the above and the second environment information regarding the second area adjacent to the first area, the first environment information and the first environment information. When the transmission module 503 configured to transmit the environmental information of 2 to the control device 120 of the simulation vehicle 130 and the control signal for the simulation vehicle 130 from the control device 120 are received, the simulation vehicle is based on the control signal. A first action determination module 504 configured such that 130 determines a first action to be performed at a second time after the first time, wherein the control signal is the first environmental information. It includes a first operation determination module 504 that is determined by the control device 120 based on the second environmental information.

In some embodiments, the region determination module 501 is configured to acquire a predetermined correspondence between the simulation position and the region, and a first correspondence information acquisition module based on the predetermined correspondence information. It includes a corresponding area determination module configured to determine a first area corresponding to the simulation position.

In some embodiments, the environmental information acquisition module 502 is configured to acquire at least one of the first obstacle information and the first road network information for the first area. It includes a module and a second area environment acquisition module configured to acquire at least one of a second obstacle information and a second road network information for the second area.

In some embodiments, the first region environment acquisition module is a sensing information acquisition module configured to acquire sensing information about an obstacle in the first region, where the sensing information is the location of the obstacle. Includes a sensing information acquisition module that indicates at least one of shape, type, speed, and orientation.

In some embodiments, the first motion determination module 504 is configured to determine the first motion performed by the simulation vehicle 130 at a second time based on control signals and a predetermined vehicle dynamics model. The vehicle motion determination module to be performed, the first motion includes a vehicle motion determination module including at least one of braking, turning, forward, backward, acceleration and deceleration.

In some embodiments, the apparatus 500 comprises a simulation model acquisition module configured to acquire a simulation model corresponding to an obstacle in the first region, a simulation model, a first environmental information, and a second environment. It further includes a second motion determination module configured to informedly determine a second motion performed by the obstacle at the second time.

In some embodiments, the device 500 is configured to determine whether the first action performed by the simulation vehicle 130 at a second time meets certain criteria for vehicle travel. If it is determined that the evaluation module and the first action performed by the simulation vehicle 130 at the second time do not meet the predetermined evaluation criteria, the second time and the scene information associated with the simulation vehicle 130 should be saved. Further includes a scene storage module configured in.

Selectably or additionally, in some embodiments, the device 500 stores the second time and the scene information associated with the simulation vehicle 130 when it receives a save request for the scene information from the control device. Includes additional scene storage modules to be configured.

In some embodiments, the scene storage module includes a scene information storage module configured to store at least one of event information, environmental information, communication information and log information regarding a second time and simulation vehicle.

In some embodiments, device 500 further includes an anomalous restart module configured to restart the simulation vehicle 130 if it determines that communication between the simulation device and the control device is abnormal.

In some embodiments, the apparatus 500 comprises a map conversion module configured to convert the loaded map into a topology diagram and a region dividing module configured to divide the topology diagram into a plurality of regions. Including further.

FIG. 6 is a schematic block diagram of the device 600 for controlling the simulation vehicle 130 according to the embodiment of the present disclosure. As shown in FIG. 6, the apparatus 600 receives the first environmental information regarding the first region and the second environmental information regarding the second region adjacent to the first region from the simulation device 110. In the receiving module 601 configured in, the first region includes the receiving module 601 corresponding to the first simulation position where the simulation vehicle 130 is located at the first time, the first environmental information, and the second. A control signal generation module 602 configured to generate a control signal for the simulation vehicle 130 based on environmental information, wherein the control signal is a second time after the first time on the simulation vehicle 130. Includes a control signal generation module 602 that causes the first operation to be executed, and a transmission module 603 that is configured to transmit the control signal to the simulation device 110.

In some embodiments, the receiving module 601 receives from the simulation instrument at least one of the first obstacle information and the first road network information relating to the first region and the second obstacle information relating to the second region. And include an environmental information receiving module configured to receive at least one of the second road network information.

In some embodiments, the environmental information receiving module is a sensing information receiving module configured to receive sensing information about an obstacle in a first region from a simulation instrument, where the sensing information is the location of the obstacle. Includes an information receiving module indicating at least one of shape, type, speed, and orientation.

FIG. 7 is a schematic block diagram of an exemplary device 700 for carrying out the embodiments of the present disclosure. For example, the simulation device 110 and the control device 120 shown in FIG. 1 can be implemented by the device 700. As shown in the figure, the device 700 is based on various computer program instructions stored in the read-only memory (ROM) 702 and computer program instructions loaded from the storage unit 708 into the random access memory (RAM) 703. Includes a central processing unit (CPU) 701 capable of performing appropriate operations and processing. The RAM 703 may further store various programs and data necessary for operating the device 700. The CPU 701, ROM 702, and RAM 703 are connected to each other via the bus 704. The input / output (I / O) interface 705 is also connected to the bus 704.

A plurality of components in the device 700 are connected to the I / O interface 705, for example, an input unit 706 such as a keyboard, a mouse, a microphone, and an output unit 707 such as various displays, speakers, and the like. For example, it includes a storage unit 708 such as a magnetic disk, an optical disk, and a communication unit 709 such as a network card, a modem, a wireless communication transmitter / receiver, and the like. The communication unit 709 allows the device 700 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunications networks.

Each of the processes and processes described above can be performed by the process unit 701, for example, methods 200-300. For example, in some embodiments, methods 200-300 may be implemented as a computer software program, which is embodied and included in a machine-readable medium such as, for example, a storage unit 708. In some embodiments, some or all of the computer program may be loaded and / or installed on device 700 via ROM 702 and / or communication unit 709. When the computer program is loaded into the RAM 703 and executed by the CPU 701, it can perform one or more operations of the methods 200-300 described above.

The present disclosure may be methods, devices, systems and / or computer program products. The computer program product may include a computer readable storage medium on which computer readable program instructions for performing each aspect of the present disclosure are loaded.

The computer-readable storage medium may be a tangible device capable of holding and storing instructions used by the instruction executing device. The computer-readable storage medium may be, for example, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination described above, but is not limited thereto. .. More specific examples (non-exhaustive list) of computer readable storage media are portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory). ), Static Random Access Memory (SRAM), Portable Compact Disk Read Only Memory (CD-ROM), Digital Versatile Disk (DVD), Memory Stick, Soft Disk, Mechanical Encoder, eg, instructions are stored on it. Includes punched cards or recessed protrusion structures, and any suitable combination of the above. The computer-readable storage medium used herein is a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (eg, an optical pulse via an optical fiber cable), Or it is not interpreted as an extra signal itself, such as an electrical signal transmitted over a wire.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to each computing / processing device and externally via, for example, the Internet, local area networks, wide area networks and / or wireless networks. It may be downloaded to a computer or external storage device. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and / or edge servers. The network adapter or network interface in each calculation / processing device receives a computer-readable program instruction from the network and transfers the computer-readable program instruction to store the computer-readable program instruction in the computer-readable storage medium in each calculation / processing device.

Computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or one or more programming languages. It may be a source code or a target code coded in any combination.
The programming language includes, for example, a project-oriented programming language such as Smalltalk, C ++, etc., and a conventional procedural programming language such as, for example, the "C" language or a similar programming language.
Computer-readable program instructions are fully executed on the user computer, partially executed on the user computer, executed as a stand-alone software package, partly executed on the user computer, and partly executed on the remote computer. Alternatively, it may be run completely on a remote computer or server. In the case of a remote computer, the remote computer can connect to the user computer via any network, including a local area network (LAN) or wide area network (WAN), or connect to an external computer (eg,). You can connect via the Internet using an Internet service provider). In some embodiments, the state information of computer-readable program instructions is used to customize an electronic circuit, such as a programmable logic circuit, field programmable gate array (FPGA) or programmable logic array (PLA). Can execute computer-readable program instructions, thereby realizing each aspect of the present disclosure.

Here, each aspect of the present disclosure will be described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each block of the flowchart and / or block diagram and the combination of each block in the flowchart and / or block diagram can both be realized by computer-readable program instructions.

These computer-readable program instructions may be provided to the processing unit of a general purpose computer, dedicated computer or other programmable data processing device, whereby the machine is manufactured to transfer these instructions to the computer or other programmable data. When executed by the processing unit of the processing device, a device that realizes a function / operation specified by one or more blocks in a flowchart and / or a block diagram is generated. These computer-readable program instructions may be stored on a computer-readable storage medium, which causes the computer, programmable data processor and / or other device to operate in a particular form, thereby storing the instructions. The computer-readable medium includes one manufactured product containing instructions of each aspect that realizes a function / operation specified in one or more blocks in a flowchart and / or a block diagram.

By loading computer-readable program instructions into a computer, other programmable data processor, or other device, the computer, other programmable data processor, or other device can perform a series of operational steps. Generates an implementation process that allows instructions executed on a computer, other programmable data processor, or other device to perform a function / operation identified in one or more blocks in a flowchart and / or block diagram. It may be the one to do.

The flowcharts and block diagrams in the drawings show the feasible system architectures, functions and operations of the systems, methods and computer program products according to a plurality of embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram can represent a module, program segment or part of an instruction, the module, program segment or part of the instruction being executed to implement a given logical function. Includes one or more possible instructions. In an alternative practice, the functions described in the blocks may occur in a different order than that described in the drawings. For example, two consecutive blocks may actually be executed in substantially parallel or in reverse order, which is determined by such function. The combination of each block in the block diagram and / or the flowchart and the block in the block diagram and / or the flowchart may be realized by a dedicated system based on hardware for executing a predetermined function or operation. It may be realized by a combination of dedicated hardware and computer instructions.

The above description describes each embodiment of the present disclosure, and the above description is exemplary and is not exhaustive and is not limited to each of the disclosed examples. Many modifications and changes are apparent to those skilled in the art without departing from the scope and intent of each of the embodiments described. The choice of terminology used herein best interprets the principles of each embodiment, actual use or technological improvements to the technology in the market, or is disclosed herein by other skilled artisans. It is intended to help you understand each of the examples.

Claims (34)

The step of determining the first region corresponding to the first simulation position where the simulation vehicle is located at the first time, and
A step of acquiring the first environmental information regarding the first region and the second environmental information regarding the second region adjacent to the first region.
A step of transmitting the first environmental information and the second environmental information to the control device of the simulation vehicle, and
When a control signal for the simulation vehicle is received from the control device, the first operation to be executed by the simulation vehicle at a second time after the first time is determined based on the control signal. A method for controlling a simulation vehicle, which is a step, wherein the control signal includes a step that is determined by the control device based on the first environmental information and the second environmental information. .. The step of acquiring the first environmental information and the second environmental information is
A step of acquiring at least one of the first obstacle information and the first road network information related to the first area, and
The method for controlling a simulation vehicle according to claim 1, comprising a step of acquiring at least one of a second obstacle information and a second road network information related to the second region. The step of acquiring the first obstacle information is
A claim that comprises a step of acquiring sensing information about an obstacle in the first region, wherein the sensing information includes at least one of a position, shape, type, speed, and orientation of the obstacle. 2. The method for controlling a simulation vehicle according to 2. The step of determining the first region is
The step of acquiring the predetermined correspondence information between the simulation position and the area, and
The method for controlling a simulation vehicle according to claim 1, further comprising a step of determining the first region corresponding to the first simulation position based on the predetermined correspondence information. The step of determining the first operation is
A step of determining a first action performed by the simulation vehicle at the second time based on the control signal and a predetermined vehicle dynamics model, wherein the first action is braking, bending, and so on. The method for controlling a simulation vehicle according to claim 1, comprising a step comprising at least one of forward, backward, acceleration and deceleration. The step of acquiring the simulation model corresponding to the obstacle in the first region, and
The first aspect of the present invention further includes a step of determining a second operation performed by the obstacle at the second time based on the simulation model, the first environmental information, and the second environmental information. A method for controlling the described simulation vehicle. A step of determining whether or not the first operation performed by the simulation vehicle at the second time meets a predetermined evaluation criterion regarding the running of the vehicle.
When it is determined that the first operation performed by the simulation vehicle at the second time does not meet the predetermined evaluation criteria, the second time and the scene information associated with the simulation vehicle are stored. The method for controlling a simulation vehicle according to claim 1, further comprising a step. The method for controlling a simulation vehicle according to claim 1, further comprising a step of storing the second time and the scene information associated with the simulation vehicle when a storage request for the scene information is received from the control device. .. The step of saving the scene information is
The method for controlling a simulation vehicle according to claim 7 or 8, comprising storing at least one of the second time and event information, environmental information, communication information and log information associated with the simulation vehicle. .. The method for controlling a simulation vehicle according to claim 1, further comprising a step of restarting the simulation vehicle when it is determined that communication between the simulation device and the control device is abnormal. Steps to convert the loaded map to a topology diagram,
The method for controlling a simulation vehicle according to claim 1, further comprising a step of dividing the topology diagram into a plurality of regions. It is a step of receiving the first environmental information about the first region and the second environmental information about the second region adjacent to the first region from the simulation apparatus, and the first region is The step corresponding to the first simulation position where the simulation vehicle is located at the first time, and
It is a step of generating a control signal for the simulation vehicle based on the first environmental information and the second environmental information, and the control signal is sent to the simulation vehicle after the first time. The step of executing the first operation at the second time and
A method for controlling a simulation vehicle for controlling the simulation vehicle, which comprises a step of transmitting the control signal to the simulation device. The step of receiving the first environmental information and the second environmental information is
From the simulation device, at least one of the first obstacle information and the first road network information related to the first region, and the second obstacle information and the second road related to the second region. The method for controlling a simulation vehicle according to claim 12, comprising the step of receiving at least one of the network information. The step of receiving the first obstacle information is
A step of receiving sensing information about an obstacle in the first region from the simulation device, wherein the sensing information indicates at least one of the position, shape, type, speed, and orientation of the obstacle. 13. The method for controlling a simulation vehicle according to claim 13. An area determination module configured to determine a first area corresponding to the first simulation position where the simulation vehicle is located at the first time.
An environmental information acquisition module configured to acquire a first environmental information regarding the first region and a second environmental information regarding a second region adjacent to the first region.
A transmission module configured to transmit the first environmental information and the second environmental information to the control device of the simulation vehicle, and
When a control signal for the simulation vehicle is received from the control device, the first operation to be executed by the simulation vehicle at a second time after the first time is determined based on the control signal. The first operation determination module configured as
The control signal is a device for controlling a simulation vehicle, including a first operation determination module that is determined by the control device based on the first environmental information and the second environmental information. .. The environmental information acquisition module is
A first area environment acquisition module configured to acquire at least one of a first obstacle information and a first road network information related to the first area.
15. A device for controlling a simulation vehicle. The first area environment acquisition module is
A sensing information acquisition module configured to acquire sensing information about an obstacle in the first region, wherein the sensing information is at least one of the position, shape, type, speed, and orientation of the obstacle. The device for controlling the simulation vehicle according to claim 16, which includes a sensing information acquisition module indicating the above. The area determination module
Correspondence information acquisition module configured to acquire predetermined correspondence information between simulation position and area,
The simulation vehicle according to claim 15, which includes a corresponding area determination module configured to determine the first area corresponding to the first simulation position based on the predetermined correspondence information. Equipment for. The first operation determination module is
A vehicle motion determination module configured to determine a first motion performed by the simulation vehicle at the second time based on the control signal and a predetermined vehicle dynamics model. The device for controlling a simulation vehicle according to claim 15, wherein the operation includes at least one of braking, bending, forward, backward, acceleration and deceleration. A simulation model acquisition module configured to acquire a simulation model corresponding to an obstacle in the first region, and a simulation model acquisition module.
A second motion determination configured to determine a second motion performed by the obstacle at the second time based on the simulation model, the first environmental information and the second environmental information. The device for controlling a simulation vehicle according to claim 15, further comprising a module. An motion evaluation module configured to determine whether the first motion performed by the simulation vehicle at the second time meets a predetermined evaluation criterion for the running of the vehicle.
When it is determined that the first operation performed by the simulation vehicle at the second time does not meet the predetermined evaluation criteria, the second time and the scene information associated with the simulation vehicle are stored. The device for controlling a simulation vehicle according to claim 15, further comprising a scene storage module configured in. The simulation according to claim 15, further comprising a scene storage module configured to store the second time and the scene information associated with the simulation vehicle when a storage request for the scene information is received from the control device. A device for controlling a vehicle. The scene storage module
21 or 22 of claim 21 or 22, comprising a scene information storage module configured to store at least one of the second time and event information, environmental information, communication information and log information associated with the simulation vehicle. A device for controlling a simulation vehicle. The simulation vehicle according to claim 15, further comprising an abnormal restart module configured to restart the simulation vehicle if it is determined that communication between the simulation device and the control device is abnormal. A device for control. A map conversion module configured to convert a loaded map into a topology diagram,
The device for controlling a simulation vehicle according to claim 15, further comprising a region division module that divides the topology diagram into a plurality of regions. A receiving module configured to receive the first environmental information regarding the first region and the second environmental information regarding the second region adjacent to the first region from the simulation device. The first region includes a receiving module corresponding to the first simulation position where the simulation vehicle is located at the first time.
A control signal generation module configured to generate a control signal for the simulation vehicle based on the first environmental information and the second environmental information, and the control signal is transmitted to the simulation vehicle. A control signal generation module that executes the first operation at a second time after the first time,
A device for controlling a simulation vehicle, including a transmission module configured to transmit the control signal to the simulation device. The receiving module
From the simulation device, at least one of the first obstacle information and the first road network information related to the first region, and the second obstacle information and the second road related to the second region. The device for controlling a simulation vehicle according to claim 26, comprising an environmental information receiving module configured to receive at least one of the network information. The environment information receiving module is
A sensing information receiving module configured to receive sensing information about an obstacle in the first region from the simulation device, wherein the sensing information includes the position, shape, type, speed, and speed of the obstacle. The device for controlling a simulation vehicle according to claim 27, comprising a sensing information receiving module indicating at least one orientation. With at least one processor
Includes a memory communicatively connected to the at least one processor.
An instruction that can be executed by the at least one processor is stored in the memory, and when the instruction is executed by the at least one processor, the at least one processor is in any one of claims 1 to 11. An electronic device that is capable of performing the methods for controlling the simulated vehicle described. With at least one processor
Includes a memory communicatively connected to the at least one processor.
The memory stores an instruction that can be executed by the at least one processor, and when the instruction is executed by the at least one processor, the at least one processor according to any one of claims 12 to 14. An electronic device that is capable of performing the methods for controlling the simulated vehicle described. A non-temporary computer-readable storage medium in which computer instructions are stored, the computer instructions causing the computer to execute the method for controlling a simulation vehicle according to any one of claims 1 to 11. , Non-temporary computer readable storage medium. A non-temporary computer-readable storage medium in which computer instructions are stored, said computer instructions causing the computer to perform the method for controlling a simulation vehicle according to any one of claims 12-14. , Non-temporary computer readable storage medium. A computer program that causes a computer to execute the method for controlling a simulation vehicle according to any one of claims 1 to 11. A computer program that causes a computer to execute the method for controlling a simulation vehicle according to any one of claims 12 to 14.

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